Gimbal control method, device, and gimbal

ABSTRACT

A gimbal control method includes obtaining a working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions; detecting that the working parameter matches a preset condition that a human force is applied to gimbal; and according to a direction of the human force applied to the gimbal, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of International Application No.PCT/CN2016/113475, filed on Dec. 30, 2016, the entire content of whichis incorporated herein by reference.

TECHNICAL FIELD

The disclosure relates to the field of gimbal technology, in particularto a gimbal control method, device, and a gimbal.

BACKGROUND

A gimbal is a carrying device for mounting and fixing a photographingapparatus and can drive the photographing apparatus to move in one ormore directions via cooperation of axial arms and motors of the gimbal,so as to capture images in a wide range. At present, gimbals have beenwidely used in various special industries. For example, in the field ofaerial photography, after the photographing apparatus is fixed on thegimbal, an aircraft can carry the gimbal to a high altitude forphotographing.

In related technologies, movements of the gimbal are usually controlledby a remote controller. A joystick or a dial wheel is disposed on theremote controller, and the user can send a movement instruction to thegimbal by operating the joystick or the dial wheel. According to thereceived movement instruction, the gimble controls the gimbal to drive acorresponding axial arm to rotate, shift, etc. However, due to theinstability of the user's operation of the joystick or the dial wheel,it is often difficult to control the gimbal to move to a target attitudein one operation, and repeated operations may be needed for adjusting,resulting in relatively cumbersome operations and not high enoughpositioning accuracy.

SUMMARY

In accordance with the disclosure, there is provided a gimbal controlmethod. The gimbal control method includes obtaining a working parameterof a gimbal, where the gimbal includes an axial arm and a motorconfigured to drive the axial arm to rotate to drive a photographingdevice mounted on the gimbal to move in one or more directions;detecting that the working parameter matches a preset condition that ahuman force is applied to gimbal; and according to a direction of thehuman force applied to the gimbal, controlling the motor to drive theaxial arm to rotate to a target attitude at which the human force stopsto be applied to the gimbal.

Also in accordance with the disclosure, there is provided a gimbal. Thegimbal includes a fixing mechanism configured to fix a photographingapparatus mounted at the gimbal, one or more axial arms, a motor, aninertial measurement unit (IMU) and a controller. The motor isconfigured to drive a corresponding one of the one or more axial arms torotate, thereby driving the photographing apparatus mounted to move inone or more directions. The controller configured to obtain workingparameters of the gimbal, and in response to detecting that the workingparameter matches a preset condition that a human force is applied tothe gimbal and according to a direction of the human force applied tothe gimbal, control the motor to drive the axial arm to rotate to atarget attitude at which the human force stops to be applied to thegimbal.

According to the technical solution provided by embodiments of thepresent disclosure, in the embodiments of the present disclosure, whenthe working parameter is detected to match the preset condition that thehuman force is applied to the gimbal, the gimbal is controlled to changeits target attitude according to the direction of the human forceapplied to the gimbal. Compared to the existing methods of controllingthe target attitude of the gimbal through a remote controller, anoperation process is simple and intuitive, and a positioning accuracy ishigh.

DESCRIPTION OF THE DRAWINGS

The drawings used in descriptions of the embodiments of the presentdisclosure are briefly described below. It is obvious that the drawingsin the following description are only some embodiments of the presentdisclosure. Other drawings may also be obtained by those of ordinaryskill in the art in view of the drawings without making creativeefforts.

FIG. 1 is a schematic diagram showing a working principle of athree-axis gimbal;

FIG. 2 is a flow chart of a gimbal control method according to someembodiments of the present disclosure;

FIG. 3 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure;

FIG. 4 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure;

FIG. 5 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure;

FIG. 6A is a block diagram of a gimbal control device according to someembodiments of the present disclosure;

FIG. 6B is an exemplary block diagram of an acquisition module in FIG.6A;

FIG. 6C is another exemplary block diagram of an acquisition module inFIG. 6A;

FIG. 6D is an exemplary block diagram of a control module in FIG. 6A;

FIG. 7 is a block diagram of a gimbal according to some embodiments ofthe present disclosure.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present disclosure aredescribed in the following with reference to the accompanying drawingsin the embodiments of the present disclosure. The described embodimentsare only a part of the embodiments of the present disclosure, but notall embodiments. All other embodiments obtained by a person of ordinaryskill in the art based on the embodiments of the present disclosurewithout creative efforts are within the scope of the present disclosure.Further, in case of no conflict, the features of the followingembodiments and examples may be combined with each other.

The gimbal in the embodiment of the present disclosure may be a handheldgimbal or a gimbal carried by an aircraft. The gimbal generally includesan axial arm and a motor, where the motor is configured to drive theaxial arm to rotate. Taking a common three-axis gimbal as an example,the three-axis gimbal includes three axial arms, and motors for drivingthree axial arms respectively, where the three axial arms are a pitchaxis, a roll axis, and a lateral axis.

When the above-mentioned gimbal is controlled to change the targetattitude, the photographing apparatus, for example, a camera or a videocamera, mounted on the gimbal can be driven to move in one or moredirections, thereby achieving photographing in a wide range. In theexisting technologies, the user controls the gimbal to change the targetattitude through a remoter controller device, such as a remotercontroller joystick or a dial wheel, etc., of which the operationprocess is relatively cumbersome, and the positioning accuracy is nothigh enough. Therefore, in the embodiments of the present disclosure,there is provided a manner in which the user applies a force to thegimbal, to move the gimbal to the target attitude quickly andaccurately.

The embodiments of the present disclosure are described in detail belowwith reference to the accompanying drawings.

FIG. 1 shows a schematic diagram of a working principle of a three-axisgimbal.

The three-axis gimbal shown in FIG. 1 includes a controller, three axialmotors, three axial arms, an inertial measurement unit (IMU), and anintegrator. The above three-axis gimbal can form a closed-loop PI(proportional-integral) control system by using a gyroscope of the IMUas a feedback element and the three axial motors as output elements.

The measured attitude of the gimbal can be obtained through the IMU, andthe difference between the measured attitude and the target attitude isconsidered as a control deviation. The controller controls inputcurrents of the three axial motors according to the input controldeviation, thereby driving the three axial motors to work. The threeaxial motors output torque during the working process to drive the threeaxial arms to rotate. During the rotation, the measured attitude of thegimbal further changes. Through the above feedback control process, thegimbal can move to the target attitude.

FIG. 2 is a flow chart of a gimbal control method according to someembodiments of the present disclosure.

At 201, a working parameter of the gimbal is obtained.

As shown in combination with FIG. 1, the working parameter of the gimbalin the embodiment of the present disclosure may include one of currentsof the motors, torques of the motors, or a control deviation of thegimbal. The above control deviation, currents and torques are usuallyproportional to each other.

At 202, it is detected that the working parameter matches a presetcondition that a human force is applied to the gimbal.

Generally, parameter values of the detected working parameters with thehuman force applied to the gimbal may be relatively largely differentfrom that for remote controller controlling the gimbal, and thus, theworking parameters can be used as the basis for judging that the humanforce is applied to the gimbal.

When the human force is applied to the gimbal, the working parameters ofthe gimbal are usually larger than the working parameters of the gimbalthat is controlled by the remote controller. When the gimbal is touchedby the human force accidentally, the working parameters of the gimbalare usually also larger than those when the gimbal is controlled by theremote controller. But the difference between the gimbal being touchedby the human force accidentally and the gimbal being applied with thehuman force is that the detected parameter value of the former issmaller than that of the latter. Based on the above analysis, dependingon the type of the working parameters, the following exemplaryimplementations can be used to detect whether the human force is appliedto the gimbal.

In an exemplary implementation, corresponding to that the workingparameter at 201 is a current, whether the current is greater than apreset current threshold may be detected, and if the current is greaterthan the current threshold, it may be determined that the human force isapplied to the gimbal.

In some embodiments, to avoid detecting that the gimbal is touched bythe human force accidentally, it can be detected whether the current isalways greater than the current threshold within a preset time period,and if always greater than the current threshold, it can be determinedthat the human force is applied to the gimbal.

In another exemplary implementation, corresponding to that the workingparameter at 202 is a torque, after the current of the motor isobtained, the torque of the motor can be measured according to theproportional relationship between currents and torques, then it can bedetected whether the torque is greater than a preset torque threshold,and if torque is greater than the torque threshold, it can be determinedthat the human force is applied to the gimbal.

In some embodiments, to avoid detecting that the gimbal is touched bythe human force accidentally, it can be detected whether the torque isalways greater than the torque threshold within a preset time period,and if always greater than the torque threshold, it may be determinedthat the human force is applied to the gimbal.

In another exemplary implementation, corresponding to that the controlparameter at 202 is the control deviation, the measured attitude of thegimbal in the feedback control process can be collected through the IMUdisposed on the gimbal. According to the measured attitude of thegimbal, the control deviation of the gimbal can be obtained. It can bedetected whether the control deviation is greater than a presetdeviation threshold, and if the control deviation is greater than thepreset deviation threshold, it can be determined that the human force isapplied to the gimbal.

In some embodiments, in order to avoid detecting that the gimbal istouched by the human force accidentally, it can be detected whether thecontrol deviation is always greater than the deviation threshold withina preset time period, and if always greater than the deviationthreshold, it may be determined that the human force is applied to thegimbal.

At 203, according to a direction of the human force applied to thegimbal, the motor is controlled to drive the axial arm to rotate to atarget attitude at which the human force stops to be applied to thegimbal.

After detecting that the human force is applied to the gimbal, theapplication direction of the human force applied to the gimbal can bemeasured through the IMU disposed on the gimbal, and then the targetspeed for changing the target attitude of the gimbal is retrieved, wherethe target speed is greater than the speed of the human force applied tothe gimbal. In the application direction, according to the above targetspeed, the gimbal can be rotated to the target attitude at which thehuman force stops to be applied to the gimbal.

It can be seen from the above embodiment that when the workingparameters of the gimbal are detected to match the preset condition thatthe human force is applied to the gimbal, the gimbal is controlled tochange its target attitude according to the direction of the human forceapplied to the gimbal, which, as compared to the existing methods ofcontrolling the target attitude of the gimbal through a remotercontroller, has a simple and intuitive operation process and a highpositioning accuracy.

FIG. 3 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure. The embodiment shows aprocess of detecting a motor torque to detect that the human force isapplied to the gimbal.

At 301, a current of the motor is obtained.

Referring to FIG. 1, when the controller obtains the control deviation,the input currents of the motors can be controlled according to thecontrol deviation. Taking the three-axis gimbal as an example, thecontroller can respectively control the input currents of the threemotors according to the control deviation. Under normal circumstances,the control deviation of the gimbal is relatively small. In theembodiments of the present disclosure, when the human force is appliedto the gimbal, the control deviation of the gimbal is instantaneouslyincreased, and the input currents of the motors obtained according tothe control deviation are also increased accordingly.

At 302, a torque corresponding to the current is measured according to aproportional relationship between currents and torques.

The torque of the motor refers to the torque that the motor outputs fromits crankshaft end. The torque is the force that allows thecorresponding axial arm of the motor to rotate. Usually the current ofthe motor is proportional to the torque, which is shown in the followingequation:

M=Ca×I,

where M represents the torque, Ca represents a constant, and Irepresents the current. When the current of the motor is obtained, thetorque of the motor can be calculated according to the above equation.

At 303, it is determined whether the measured torque is greater than apreset torque threshold. If yes, 304 is executed; otherwise, the currentprocess is terminated.

When the human force is applied to the gimbal, the torque of the gimbalis usually greater than the torque when the gimbal is controlled by theremote controller. Therefore, in the present embodiment, a torquethreshold may be set in advance, and the torque threshold is a lowerlimit value for determining a torque when the human force is applied tothe gimbal.

In this step, when the torque corresponding to the current of the motoris measured in real time, the torque is compared with the torquethreshold. If the torque is not greater than the torque threshold, itcan be determined that the gimbal is not applied with the human force,and the current process can be terminated. If the torque is larger thantorque threshold, then 304 can be executed.

At 304, it is determined whether a preset time period is reached. Ifyes, 305 is executed; otherwise, the process returns to 301.

Since the torque of the gimbal when a human hand accidentally touchesthe gimbal is usually also greater than the torque when the gimbal iscontrolled by the remoter controller, the difference between the humanhand accidentally touching the gimbal and the human force being appliedto the gimbal is that a duration for a torque of the former beinggreater than the torque threshold is shorter than that of the latter.Therefore, in this embodiment, a time period may be preset fordetermining whether the torque of the gimbal continues to be greaterthan the torque threshold for a continuous period of time. As such, thehuman hand accidentally touching the gimbal can be prevented from beingdetermined as the human force applied to the gimbal, so as to improvethe accuracy to detect that gimbal is applied with the human force.

At 305, it is determined that the human force is applied to the gimbal,and the current process is terminated.

FIG. 4 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure. The embodiment shows aprocess of controlling a deviation value to detect that the human forceis applied to the gimbal.

At 401, a measured attitude of the gimbal is collected through the IMUdisposed on the gimbal.

At 402, a control deviation of the gimbal is obtained according to themeasured attitude of the gimbal.

As shown in FIG. 1, in the feedback control process of the embodiment ofthe present disclosure, the measured attitude of the gimbal can beobtained through the IMU disposed on the gimbal, and the controldeviation of the gimbal is obtained according to the measured attitude.When the human force is applied to the gimbal, the initial targetattitude is 0, and the control deviation is the largest at this time. Inthe process that the target attitude is continuously adjusted to themeasured attitude, the control deviation is gradually reduced.

At 403, it is determined whether the control deviation is greater than apreset deviation threshold. If yes, 404 is executed; otherwise, thecurrent process is terminated.

Under normal circumstances, the control deviation of the gimbal isrelatively small, and when the human force is applied to the gimbal, thecontrol deviation of the gimbal increases. Therefore, in thisembodiment, a deviation threshold may be set in advance, and thedeviation threshold is a lower limit value for determining a controldeviation when the human force is applied to the gimbal.

In this step, after the control deviation of the gimbal is obtained inreal time, the control deviation is compared with the deviationthreshold. If the control deviation is not greater than the deviationthreshold, it can be determined that currently the gimbal is not appliedwith the human force, and the current process can be terminated. If thecontrol deviation is greater than the deviation threshold, then 404 isperformed.

At 404, it is determined whether a preset time period is reached. Ifyes, 405 is executed; otherwise, 401 is returned to.

Since the control deviation of the gimbal is usually greater than thecontrol deviation when the gimbal is controlled by the remotercontroller when the human hand accidentally touches the gimbal, thedifference between the human hand accidentally touching the gimbal andthe powered gimbal being applied with the human force is that a durationof the control deviation of the former being greater than the deviationthreshold is shorter than that of the latter. Therefore, in thisembodiment, a time period may be set in advance to determine whether thecontrol deviation of the gimbal continues to be greater than thedeviation threshold for a continuous period of time. As such, the humanhand accidentally touching the gimbal can be prevented from beingdetermined as the human force applied to the gimbal, so as to improvethe accuracy to detect that gimbal is applied with the human force.

At 405, it is determined that the human force applied to the gimbal isdetected, and the current process is terminated.

FIG. 5 is a flow chart of a gimbal control method according to someother embodiments of the present disclosure. The embodiment shows aprocess of changing a target attitude of a gimbal according to theapplication direction of the human force applied to the gimbal.

At 501, the application direction of the human force applied to thegimbal is measured through the IMU disposed on the gimbal.

The IMU can be used to measure the attitude information of the object.In this embodiment, after the human force applied to the gimbal isdetected, the IMU can measure the application direction of the humanforce applied to the gimbal. For example, for the three-axis gimbal, theapplication direction can be detected when the human force is applied toat least one of the pitch axis, the roll axis, or the lateral axis.

At 502, a target speed for changing a target attitude of the gimbal isretrieved, and the target speed is greater than an application speed ofthe human force applied to the gimbal.

After the application direction of the human force applied to the gimbalis detected, if the gimbal is to be moved to the target attitude of thehuman force, the gimbal can be controlled to move at the target speed.The target speed is usually greater than the application speed of thehuman force applied to the gimbal. Taking a three-axis gimbal as anexample, an angle sensor is provided on the motor for each of the threeaxes, and the angle sensor can measure the application speeds ofdifferent axial arms when the human force is applied to the gimbal.

When embodiments of the present disclosure are implemented, the generalapplication speed of the human force applied to the gimbal can be testedin advance through multiple sets of test experiments. According to theapplication speed, the target speed for changing the target attitude ofthe gimbal can be determined. For example, the target speed can beslightly greater than the application speed. The gimbal controller canstore the above target speed, and when detecting that the human force isapplied to the gimbal, the above target speed can be retrieved, and thegimbal can be controlled to change the target attitude.

At 503, in the application direction, according to the target speed, themotor is controlled to drive the axial arm to rotate to the targetattitude at which the human force stops to be applied to the gimbal.

In this step, in the detected application direction of gimbal appliedwith the human force, the target attitude of the gimbal is changedaccording to the target speed. That is, the feedback control isperformed according to the target speed, so that axial arm is driven bythe motor to rotate until the axial arm is rotate to the attitude atwhich the human force stops to be applied to the gimbal. In the abovecontrol process, the target speed is greater than the application speed.As such, it can be ensured that when the human force stops to be appliedto the gimbal, the target attitude of the gimbal has changed to theactual attitude of the human force applied to the gimbal.

Corresponding to the embodiment of the control method for the gimbalaccording to the present disclosure, the present disclosure alsoprovides embodiments of a gimbal control device and a gimbal.

FIG. 6A is a block diagram of a gimbal control device according to someembodiments of the present disclosure.

The gimbal control device includes an acquisition module 610, adetection module 620, and a control module 630.

The acquisition module 610 is configured to obtain a working parameterof the gimbal.

The detection module 620 is configured to detect that the workingparameter matches the preset condition that a human force is applied tothe gimbal.

The control module 630 is configured to according to a direction of thehuman force applied to the gimbal, control the motor to drive the axialarm to rotate to a target attitude at which the human force stops to beapplied to the gimbal.

FIG. 6B is an exemplary block diagram of the acquisition module 610 inFIG. 6A according to an exemplary implementation.

The acquisition module 610 can include a current acquisition sub-module611 and a torque measurement sub-module 612.

The current acquisition sub-module 611 is configured to obtain a currentof the motor.

The torque measurement sub-module 612 is configured to measure a torquecorresponding to the current according to a proportional relationshipbetween currents and torques and determine the torque as the workingparameter of the gimbal.

Correspondingly, the detection module 620 may be configured to detectwhether the measured torque is greater than a preset torque threshold,and if the measured torque is greater than the torque threshold, detectthe torque matches the preset condition that the human force is appliedto the gimbal.

In some embodiments, the detection module 620 may be configured todetect whether the measured torque is greater than the torque thresholdwithin a preset time period.

FIG. 6C is another exemplary block diagram of the acquisition module 610in FIG. 6A according to another exemplary implementation.

The acquisition module 610 can include a measured attitude acquisitionsub-module 613 and a control deviation acquisition sub-module 614.

The measured attitude acquisition sub-module 613 is configured tocollect the measured attitude of the gimbal through an IMU disposed onthe gimbal.

The control deviation acquisition sub-module 614 is configured to obtaina control deviation of the gimbal according to the measured attitude ofthe gimbal and determine the control deviation as the working parameterof the gimbal.

Correspondingly, the detection module 620 may be configured to detectwhether the control deviation is greater than a preset deviationthreshold, and if the control deviation is greater than the deviationthreshold, detect the control deviation matches the preset conditionthat the human force is applied to the gimbal.

In some embodiments, the detection module 620 may be configured todetect whether the control deviation is always greater than thedeviation threshold within a preset time period.

In another exemplary implementation, the detection module 620 may beconfigured to detect whether the current is greater than a presetcurrent threshold when the working parameter obtained by the acquisitionmodule 610 is a current of the motor, and if the current is greater thanthe current threshold, detect that the current matches a presetcondition that the human force is applied to the gimbal.

In some embodiments, the detection module 620 may be configured todetect whether the current is greater than the current threshold withina preset time period.

FIG. 6D is an exemplary block diagram of a control module in FIG. 6Aaccording to an exemplary implementation.

The control module 630 can include an application direction measurementsub-module 631, a target speed retrieving sub-module 632, and a targetattitude control sub-module 633.

The application direction measurement sub-module 631 is configured tomeasure the application direction of the human force applied to thegimbal by using an IMU disposed on the gimbal.

The target speed retrieving sub-module 632 is configured to retrieve atarget speed for changing the target attitude of the gimbal, where thetarget speed is greater than an application speed of the gimbal.

The target attitude control sub-module 633 is configured to control,according to the target speed, the motor to drive the axial arm torotate to the target attitude at which the human force stops to beapplied to the gimbal.

It can be seen from the above embodiment that when the detection moduledetects that the working parameters of the gimbal obtained by theacquisition module match the preset condition that the human force isapplied to the gimbal, the control module controls the gimbal accordingto the direction of the human force applied to the gimbal. Compared tothe existing methods of controlling the target attitude of the gimbalthrough a remote controller, an operation process is simple andintuitive, and a positioning accuracy is high.

FIG. 7 is a block diagram of a gimbal according to some embodiments ofthe present disclosure.

The gimbal includes a fixing mechanism 710, an axial arm 720, a motor730, an IMU 740, and a controller 750.

The fixing mechanism 710 is configured to fix a photographing apparatusmounted on the gimbal.

The motor 730 is configured to drive the corresponding axial arm 720 torotate, thereby driving the photographing apparatus to move in one ormore directions.

The controller 750 is configured to obtain a working parameter of thegimbal, and if the working parameter is detected to match a presetcondition that a human force is applied to the gimbal, control the motoraccording to the direction of gimbal applied with the human force,control the motor to drive the axial arm to rotate to a target attitudeat which the human force stops to be applied to the gimbal.

In an exemplary implementation, the controller 750 may be configured toobtain a current of the motor, and measure a torque corresponding to thecurrent according to a proportional relationship between currents andtorques, detect whether the measured torque is greater than a presettorque threshold, and if the measured torque is greater than the torquethreshold, determine that the torque is detected to match the presetcondition that the human force is applied to the gimbal.

In some embodiments, the controller 750 may be configured to detectwhether the measured torques are greater than the torque thresholdwithin a preset time period.

In another exemplary implementation, the controller 750 may beconfigured to collect a measured attitude of the gimbal through the IMU740, obtain a control deviation of the gimbal according to the measuredattitude of the gimbal, detect whether the control deviation is greaterthan a preset deviation threshold, and if the control deviation isgreater than the deviation threshold, determine that the controldeviation is detected to match the preset condition that the human forceis applied to the gimbal.

In some embodiments, the controller 750 may be configured to detectwhether the control deviation is greater than the deviation thresholdwithin a preset time period.

In another exemplary implementation, the controller 750 may beconfigured to: when the working parameter is a current of the motor,detect whether the current is greater than a preset current threshold,and if the current is greater than the current threshold, determine thatthe current is detected to match the preset condition that the humanforce is applied to the gimbal.

In some embodiments, the controller 750 may be configured to detectwhether the current is greater than the current threshold within apreset time period.

In another exemplary implementation, the controller 750 may beconfigured to measure, through the IMU 740, the application directionwhen the human force is applied to the gimbal, retrieve a target speedfor changing the target attitude of the gimbal, and in the applicationdirection, according to the target speed, control the motor to drive theaxial arm to rotate to the target attitude at which the human forcestops to be applied to the gimbal, and the target speed is greater thanthe speed of the human force applied to the gimbal.

It can be seen from the above embodiment that when the workingparameters of the gimbal are detected to match the preset condition of ahuman powered operation on the gimbal, the gimbal is controlled tochange its target attitude according the direction of the human forceapplied to the gimbal, which compared to the existing methods ofcontrolling the target attitude of the gimbal through a remotercontroller, has a simple and intuitive operation process and a highpositioning accuracy.

The system, device, module or unit illustrated in the above embodimentsmay be implemented by a computer chip or an entity, or by a producthaving a certain function. For the convenience of description, the abovedevices are described separately by function into various units. Thefunctions of each unit may be implemented in one or more software and/orhardware when implementing the present application. Those skilled in theart will appreciate that embodiments of the present disclosure can beprovided as a method, system, or computer program product. Accordingly,the present disclosure may take the form of an entirely hardwareembodiment, an entirely software embodiment, or a combination ofsoftware and hardware. Moreover, the disclosure can take the form of acomputer program product embodied on one or more computer-executablestorage media (including but not limited to disk storage, CD-ROM,optical storage, etc.) including computer readable program code. Thecomputer readable program code can be executed by a process consistentwith the disclosure to perform a method consistent with the disclosure,such as one of the example methods described above.

The various embodiments in the specification are described in aprogressive manner, and the same or similar parts between the variousembodiments may be referred to each other, and each embodiment focuseson the differences from the other embodiments. In particular, for thesystem embodiment, since it is basically similar to the methodembodiment, the description is relatively simple, and the relevant partscan be referred to the description of the method embodiment.

It should be noted that, in this context, relational terms, such asfirst, second, etc., are used merely to distinguish one entity oroperation from another entity or operation, and do not necessarilyrequire or imply there is any such actual relationship or order betweenthese entities or operations. The terms “comprising,” “including,” orother variation are intended to include a non-exclusive inclusion, suchthat a process, method, article, or device that includes a plurality ofelements includes not only those elements, but also other elements notspecifically listed, or elements that are inherent to such a process,method, article, or device. An element that is defined by the phrase“comprising a . . . ” does not exclude the presence of additionalequivalent elements in the process, method, article, or device thatincludes the element.

The above description is only an embodiment of the present applicationand is not intended to limit the application. Various changes andmodifications can be made to the present application by those skilled inthe art. Any modifications, equivalents, improvements, etc. made withinthe spirit and scope of the present application are intended to beincluded within the scope of the appended claims.

What is claimed is:
 1. A gimbal control method comprising: obtaining aworking parameter of a gimbal, the gimbal comprising: an axial arm; anda motor configured to drive the axial arm to rotate to drive aphotographing device mounted on the gimbal to move in one or moredirections; detecting that the working parameter matches a presetcondition that a human force is applied to the gimbal; and according toa direction of the human force applied to the gimbal, controlling themotor to drive the axial arm to rotate to a target attitude at which thehuman force stops to be applied to the gimbal.
 2. The method accordingto claim 1, wherein obtaining the working parameters of the gimbalcomprises: obtaining a current of the motor; and measuring a torquecorresponding to the current according to a proportional relationshipbetween currents and torques, the torque being determined as the workingparameter of the gimbal.
 3. The method according to claim 2, whereindetecting that the working parameter matches the preset condition thatthe human force is applied to the gimbal comprises: detecting whetherthe measured torque is greater than a preset torque threshold, and ifthe measured torque is greater than the torque threshold, detecting thatthe torque matches the preset condition that the human force is appliedto the gimbal.
 4. The method according to claim 3, wherein detectingwhether the measured torque is greater than the preset torque thresholdcomprises: detecting whether the measured torque is always greater thanthe preset torque threshold within a preset time period.
 5. The methodaccording to claim 1, wherein obtaining the working parameters of thegimbal comprises: collecting a measured attitude of the gimbal throughan inertial measurement unit (IMU) disposed on the gimbal; and obtaininga control deviation of the gimbal according to the measured attitude ofthe gimbal and determining the control deviation as the workingparameter of the gimbal.
 6. The method according to claim 5, whereindetecting that the working parameter matches the preset condition thatthe human force is applied to the gimbal comprises: detecting whetherthe control deviation is greater than a preset deviation threshold, andif the control deviation is greater than the deviation threshold,detecting that the control deviation matches the preset condition thatthe human force is applied to the gimbal.
 7. The method according toclaim 6, wherein detecting whether the control deviation is greater thanthe preset deviation threshold comprises: detecting whether the controldeviation is always greater than the deviation threshold within a presettime period.
 8. The method according to claim 1, wherein: the workingparameter is a current of the motor; and detecting that the workingparameter matches the preset condition that the human force is appliedto the gimbal comprises: detecting whether the current is greater than apreset current threshold; and in response to the current being greaterthan the preset current threshold, detecting that the working parametermatches the preset condition that the human force is applied to thegimbal.
 9. The method according to claim 8, wherein detecting whetherthe current is greater than the preset current threshold comprisesdetecting whether the current is always greater than the currentthreshold within a preset time period.
 10. The method according to claim1, wherein according to the direction of the human force applied to thegimbal, controlling the motor to drive the axial arm to rotate to thetarget attitude at which the human force stops to be applied to thegimbal comprises: measuring, through an inertial measurement unit (IMU)disposed at the gimbal, an application direction of the human forceapplied to the gimbal; retrieving a target speed for changing the targetattitude of the gimbal, the target speed being greater than theapplication speed of the human force applied to the gimbal; andcontrolling, according to the target speed, the motor to drive the axialarm to rotate in the application direction to the target attitude atwhich the human force stops to be applied to the gimbal.
 11. A gimbal,comprising: a fixing mechanism configured to fix a photographingapparatus mounted at the gimbal; one or more axial arms; a motorconfigured to drive a corresponding one of the one or more axial arms torotate, thereby driving the photographing apparatus mounted to move inone or more directions; an inertial measurement unit (IMU); and acontroller configured to: obtain working parameters of the gimbal; andcontrol, in response to detecting that the working parameter matches apreset condition that a human force is applied to the gimbal andaccording to a direction of the human force applied to the gimbal, themotor to drive the axial arm to rotate to a target attitude at which thehuman force stops to be applied to the gimbal.
 12. The gimbal accordingto claim 11, wherein the controller is further configured to: obtain acurrent of the motor; measure a torque corresponding to the currentaccording to a proportional relationship between currents and torques;detect whether the measured torque is greater than a preset torquethreshold; and detect, in response to the measured torque being greaterthan the preset torque threshold, that the torque matches the presetcondition that the human force is applied to the gimbal.
 13. The gimbalaccording to claim 12, wherein the controller is further configured todetect whether the measured torque is always greater than the presettorque threshold within a preset time period.
 14. The gimbal accordingto claim 11, wherein the controller is further configured to: collect ameasured attitude of the gimbal through the IMU; obtain a controldeviation as the working parameters of the gimbal according to themeasured attitude of the gimbal; detect whether the control deviation isgreater than a preset deviation threshold; and detect, in response tothe control deviation being greater than the preset deviation threshold,that the control deviation matches the preset condition that the humanforce is applied to the gimbal.
 15. The gimbal according to claim 14,wherein the controller is further configured to detect whether thecontrol deviation is always greater than the preset deviation thresholdwithin a preset time period.
 16. The gimbal according to claim 11,wherein: the working parameter is a current of the motor; and thecontroller is further configured to: detect whether the current isgreater than a preset current threshold; and detect, in response to thecurrent being greater than the current threshold, that the workingparameter matches the preset condition that the human force is appliedto the gimbal.
 17. The gimbal according to claim 16, wherein thecontroller is further configured to detect whether the current is alwaysgreater than the current threshold within a preset time period.
 18. Thegimbal according to claim 11, wherein the controller is furtherconfigured to: measure an application direction when the human force isapplied to the gimbal through the IMU; retrieve a target speed forchanging the target attitude of the gimbal; and control, according tothe target speed, the motor to drive the axial arm in the applicationdirection to rotate to the target attitude at which the human forcestops to be applied to the gimbal.